Another line of work from the SLAM literature has moved to address dynamic, object-aware challenges [1]}, [2]}, [3]}, [4]}, where dynamic objects are being reconstructed on-the-fly while being tracked without the need for object 3D models beforehand. However, tracking-via-reconstruction [4]}, [2]} tends to accumulate errors when fusing observations with erroneous pose estimates into the global model. These errors adversely impact model tracking in subsequent frames.
